Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866915000733401088 |
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| author | Lenz, Janis Gruner, Theo Palenicek, Daniel Schneider, Tim Peters, Jan |
| author_facet | Lenz, Janis Gruner, Theo Palenicek, Daniel Schneider, Tim Peters, Jan |
| contents | Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively integrating these modalities in robotic systems is still an open problem. Our work presents an extensive analysis of the interplay between visual and tactile feedback during dexterous insertion tasks, showing that tactile sensing can greatly enhance success rates on challenging insertions with tight tolerances and varied hole orientations that vision alone cannot solve. These findings provide valuable insights for designing more effective multi-modal robotic control systems and highlight the critical role of tactile feedback in contact-rich manipulation tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_23860 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks Lenz, Janis Gruner, Theo Palenicek, Daniel Schneider, Tim Peters, Jan Robotics Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively integrating these modalities in robotic systems is still an open problem. Our work presents an extensive analysis of the interplay between visual and tactile feedback during dexterous insertion tasks, showing that tactile sensing can greatly enhance success rates on challenging insertions with tight tolerances and varied hole orientations that vision alone cannot solve. These findings provide valuable insights for designing more effective multi-modal robotic control systems and highlight the critical role of tactile feedback in contact-rich manipulation tasks. |
| title | Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.23860 |